Cylindrical ultrasonic scanning apparatus

ABSTRACT

An apparatus for scanning a cylindrical part is provided. The apparatus includes an ultrasonic transducer operable to emit ultrasonic waves into and receive ultrasonic waves from the part, with the ultrasonic transducer connected to a translation stage to move it up and down the part and around the circumference of the part. The apparatus does not mechanically contact the cylindrical or maintains contact only with soft elements, such that the apparatus does not damage sensitive parts. The apparatus also contains no magnetic parts, nor any elements that rely on magnetic detection, such that the apparatus is capable of being used in the vicinity of a part exhibiting a strong magnetic field.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to ultrasonic non-destructive testingsystems, and more specifically to systems for high resolution scanningcylindrical or tubular parts.

2. Description of the Prior Art

It is generally known in the prior art to provide systems for scanning apart with ultrasonic energy. Systems exist for scanning parts both inand out of immersion tanks and are operable to scan parts having avariety of geometries, including cylindrical parts.

Prior art patent documents include the following:

U.S. Pat. No. 8,798,940 for Rotating array probe systems fornon-destructive testing by inventors Imbert et al., filed Apr. 11, 2011and issued Aug. 5, 2014, is directed to performing non-destructiveinspection and testing (NDT/NDI) of an elongated test object, whereinthe inspection system includes: a test object conveyor for conveying thetest object along a longitudinal conveyance path; a probe assemblyincluding phased-array probes, the probe assembly being configured toinduce signals in the test object and sense echoes reflected from thetest object; a probe assembly conveyor configured to movably support theprobe assembly, to move the probe assembly on a circumferential pathabout the test object; and a control system coupled to the test objectconveyor and to the probe assembly conveyor and configured to allow dataacquisition by and from the phased-array probes while, simultaneously,the test object moves along the longitudinal path and the phased-arrayprobes move on the circumferential path. The test system may includephased-array probes of different types to optimize detecting faults orcracks in the test object which extend in different directions.

U.S. Pat. No. 9,970,907 for Ultrasonic matrix inspection by inventorsGrotenhuis et al., filed Sep. 26, 2012 and issued May 15, 2018, isdirected to a device and method for performing ultrasound scanning of asubstantially cylindrical object, the device comprising a cuff adaptedto fit around a circumference of the object, a carrier mounted slidablyon the cuff and adapted to traverse the circumference of the object, anultrasound probe mounted on the carrier and positioned to scan thecircumference of the object as the carrier traverses the circumferenceof the object, a carrier motor mounted on the cuff or the carrier andused to drive the movement of the carrier about the circumference of theobject, and one or more data connections providing control informationfor the carrier motor and the ultrasound probe and receiving scanningdata from the ultrasound probe.

U.S. Pat. No. 7,685,878 for Apparatus for structural testing of acylindrical body by inventor Brandstrom, filed Jul. 25, 2007 and issuedMar. 30, 2010, is directed to two transducers to be rotated around acircumferential location on a cylindrical body for structural testing ofthe body are carried on a mounting and drive apparatus including amagnetic attachment which can be manually brought up to a pipe from oneside only for fixed connection to the pipe on that side at a positionaxially spaced from a weld. A collar shaped support for the pair oftransducers is formed of a row of separate segments which wrap aroundthe pipe from the one side and is rotated around the axis of the pipe tocarry the transducer around the circumferential weld. The segments carryrollers to roll on the surface and are held against the pipe by magnets.The transducers are carried on the support in fixed angular position totrack their position but in a manner which allows slight axial or radialmovement relative to the pipe.

U.S. Pat. No. 7,240,556 for Angle beam shear wave through-transmissionultrasonic testing apparatus and method by inventors Georgeson et al.,filed Mar. 14, 2005 and issued Jul. 10, 2007, is directed to methods,systems, and apparatus for inspecting a structure using angle beam shearwave through-transmission ultrasonic signals involves positioningtransducers at offset positions on opposing sides of the structure andpermits inspection of the inside of the structure beneath surfacedefects and features. Magnetic coupling can be used for supporting apair of leader-follower probes and defining offset positions betweenangle beam shear wave transducers carried by the probes. Inspection datacan be collected for supporting real-time generation ofthree-dimensional image representations of the structure and of internaldefects and features of the structure. Image generation and resolutionusing inspection data from angle beam shear wave ultrasonic signals canbe supplemented using pulse-echo ultrasonic inspection data.

U.S. Pat. No. 8,365,603 for Non-destructive testing, in particular forpipes during manufacture or in the finished state by inventors Lesage etal., filed Dec. 16, 2008 and issued Feb. 5, 2013, is directed to adevice forming an operating tool, for the non-destructive testing ofiron and steel products, intended to extract information on possibleimperfections in the product, from feedback signals that are captured bytransmitting ultrasound sensors, receiving ultrasound sensors forming anarrangement with a selected geometry, assembled to couple in anultrasound way with the product via the intermediary of a liquid medium,with relative rotation/translation movement between the pipe and thearrangement of transducers, said operating tool being characterized inthat it comprises: a converter capable of selectively isolating adigital representation of possible echoes in designated time windows, asa function of the relative rotation/translation movement, saidrepresentation comprising the amplitude and time of flight of at leastone echo, and of generating a parallelepipedic 3D graph, a transformerunit capable of generating a 3D image of possible imperfections in thepipe from the 3D graph and a database, a filter capable of determining,in the images, presumed imperfection zones, and the properties of eachpresumed imperfection, and an output stage configured to generate aproduct conformity or non-conformity signal.

U.S. Pat. No. 5,007,291 for Ultrasonic inspection apparatus withcentering means for tubular members by inventors Walters et al., filedOct. 5, 1989 and issued Apr. 16, 1991, is directed to a pipe inspectionapparatus comprising transducers for transmitting pulsed beams ofultrasonic energy longitudinally, transversely and obliquely into thewall of the pipe for detection of flaws. The apparatus includes a motordriven chuck for rotating the transducers about the pipe P and motordriven roller for axial movement of the pipe whereby the transducersmove in a helical scanning path. A control system maintains the axes ofthe pipe and circle array of transducers in coincidence and withhydraulic controls maintains each transducer at fixed distance to thepipe for sonically coupling thereto by a flowing liquid whereby a shearwave is generated by each beam in the tubular wall. The transducerscomprise multiple pairs, the members of which are diametrically opposedand transmit in opposite directions, for transmitting longitudinally atangles of 12°, 27° and 42° to the pipe axis both clockwise andcounterclockwise with one transducer of each pair disposed to transmitforward and the other reverse. For longitudinal flaws, one transducer ofa pair transmits transverse clockwise and the other transversecounterclockwise. All transducers which transmit in a given directionare arrayed in the axial direction of the pipe. Pulsers simultaneouslyand repetitively energize and de-energize all forward transmittingtransducers and after each such transmission pulsers simultaneously andrepetitively energize and de-energize all reverse transducers.Reflection signals of predetermined strength are recorded and activatean alarm. A compressional wave transducer for determining wall thicknessis included.

US Patent Publication No. 2019/0077472 for Ultrasonic inspectionapparatus with centering means for tubular members by inventors Harriset al., filed Mar. 20, 2017 and published Mar. 14, 2019, is directed toa moving robot having at least one surface wave transducer or atransmitter and receiver, to identify defects on or in a surface onwhich the robot moves, and provide data indicative of the location, sizeand/or orientation of the defects from robot position data.

SUMMARY OF THE INVENTION

The present invention relates to ultrasonic non-destructive testingsystems, and more specifically to systems for scanning cylindrical ortubular parts.

It is an object of this invention to scan sensitive parts usingultrasonic energy in a highly magnetic environment.

In one embodiment, the present invention is directed to an apparatus forperforming ultrasonic inspection of a substantially cylindrical part,wherein the apparatus does not contact the substantially cylindricalpart.

These and other aspects of the present invention will become apparent tothose skilled in the art after a reading of the following description ofthe preferred embodiment when considered with the drawings, as theysupport the claimed invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The patent or application file contains at least one drawing executed incolor. Copies of this patent or patent application publication withcolor drawing(s) will be provided by the Office upon request and paymentof the necessary fee.

FIG. 1 illustrates a side view of an ultrasonic scanning apparatusaccording to one embodiment of the present invention.

FIG. 2 illustrates a top view of an ultrasonic scanning apparatusaccording to one embodiment of the present invention.

FIG. 3 illustrates a side view of a transducer housing assemblyaccording to one embodiment of the present invention.

FIG. 4 illustrates a side view of an ultrasonic scanning apparatusaccording to one embodiment of the present invention.

FIG. 5 illustrates a side view of an ultrasonic scanning apparatusaccording to one embodiment of the present invention.

FIG. 6 illustrates a front view of an ultrasonic scanning apparatus witha rotating support according to one embodiment of the present invention.

FIG. 7 illustrates a side view of an ultrasonic scanning apparatus witha rotating support and gel applicator according to one embodiment of thepresent invention.

FIG. 8 illustrates a three-dimensional representation of the thicknessof a part generated by one embodiment of the present invention.

FIG. 9 illustrates a two-dimensional representation of the thickness ofa part generated by one embodiment of the present invention.

FIG. 10 illustrates a group of graphical representations of a partgenerated by one embodiment of the present invention.

FIG. 11 is a schematic diagram of a system of the present invention.

DETAILED DESCRIPTION

The present invention is generally directed to ultrasonicnon-destructive testing systems, and more specifically to systems forscanning cylindrical or tubular parts.

In one embodiment, the present invention is directed to an apparatus forperforming ultrasonic inspection of a substantially cylindrical part,wherein the apparatus does not contact the substantially cylindricalpart.

None of the prior art discloses an ultrasonic scanning apparatus forsensitive cylindrical parts. For scanning cylindrical parts, a centralchallenge is maintaining the transducer at a relatively consistent anglerelative to the surface of the part and at a relatively consistentdistance from the surface of the part, so that the data is more readilyinterpretable. Existing scanning systems for cylindrical parts attemptto accomplish this in two main ways. First, systems such as thatdisclosed in U.S. Pat. No. 9,970,907 require that a transducer beattached to be a brace that clamps onto the cylindrical part and holdsthe transducer tightly against it. Because the clamp is directlyattached to the part and the transducer is rotatable in an arc aroundthe clamp, the transducer maintains a substantially fixed orientationrelative to the surface of the part. However, while many pipes, forexample, are able to maintain an attached piece with any issues, otherparts are more sensitive and likely to be damaged by clamping or anyother mechanism that involves substantial contact with the part.However, transducers used in these systems are flat-front transducers,which require the transducer to be almost perfectly normal to thesurface of the part in order to get interpretable readings.

Other systems utilize a mobile apparatus that is able to be pressedagainst a part in order to keep an attached transducer at asubstantially fixed orientation relative to the surface of a part. Forexample, the roller in U.S. Patent Pub. No. 2019/0077472 requires thatwheels be pressed against the part being tested in order to maintain thetransducer at a relatively consistent angle and distance from thecylindrical part. Some roller systems utilize a phased array oftransducers to focus a beam of ultrasonic energy on the part to bescanned. However, the tolerances and resolution of such systems are low.Typically, the frequency of such transducers is fairly low.Additionally, the fact that the transducers are so close to the partmeans that the system is unable to be sufficiently focus with enoughprecision to produce useful data for many applications, such ascharacterizing defects in individual lamina. Additionally, phased arraysystems run at approximately 50 V, which limits the resolution powerthey are capable of having. Further, roller probes need to be refocusedfor each depth to be examined, as the system needs to ensure that shearwaves or reflections of angled waves off the surface of the part do notimpact the waveform.

Furthermore, both types of existing cylindrical systems require that thesystem either be immersed in a water-filled tank or that water becontinuously run over or through the part in order to couple thetransducer to the part. However, immersion tanks and/or water jets areimpractical or even potentially damaging for certain parts.Alternatively, if a flat-front contact transducer is substituted inplace of a water-coupled transducer, then the immersion tank orcontinuous stream is avoided, but the x-y resolution of the transduceris greatly reduced, causing the apparatus to have limited usefulness indetermining flaws in the part being scanned. Therefore, a system isneeded for cylindrical parts without the use of an immersion tank.

Additionally, existing scanning systems include magnetic components, andfrequently employ a magnetic encoder in order to detect the rotationalposition of the scanning device. However, some parts that need to betested, for instance, parts of an electric motor, generate largemagnetic fields that make using the majority of scanning apparatusespractically impossible. Existing scanning apparatuses have typicallyavoided using replacements for magnetic encoders, such as opticalencoders, as alternatives tend to have issues if the scanning apparatusis moving too fast. Optical encoders provide information regardingrelative position of a device, only comparable to the most recentlymeasured position, while magnetic encoders are capable of providing anobjective position. Additionally, addressing the susceptibility ofscanning apparatuses to external magnetic fields would require that thescanning apparatuses remove magnetic metal elements from the systementirely. Elements made from steel and other magnetic metals are all toocommon in existing scanning systems, making those systems unsuitable forscanning in the presence of an external magnetic field. Therefore, asystem is needed that is capable of scanning parts in a magneticenvironment.

Referring now to the drawings in general, the illustrations are for thepurpose of describing one or more preferred embodiments of the inventionand are not intended to limit the invention thereto.

FIG. 1 illustrates a side view of an ultrasonic scanning apparatusaccording to one embodiment of the present invention. The ultrasonicscanning apparatus 10 is supported above a part 2 having an outercoating 4. In one embodiment, the part 2 is substantially axisymmetric(e.g. cylindrical). In one embodiment, the part 2 has a diameter of 100mm or greater. In another embodiment, the part 2 has a diameter between100 mm and 3000 mm. In yet another embodiment, the part is between about200 mm and 61 cm in diameter. In still another embodiment, the part 2has a diameter between about 300 mm and 500 mm. In another embodiment,the part has a diameter of approximately 460 mm. In one embodiment, theouter coating 4 of the part 2 is made from a sensitive material, such asone or more layers of carbon fiber, especially when the carbon fibersare exposed to the surface of the outer coating 4. The ultrasonicscanning apparatus 10 does not contact the part 2 in any way, withspecial care taken to not contact the outer coating 4 of the part 2.

In one embodiment, the ultrasonic scanning apparatus 10 includes a ringbase 12. At least one translation stage 16 extends axially downwardlyfrom the ring base 12. In one embodiment, the at least one translationstage 16 is rotatable around a track within the ring base 12, such thatthe at least one translation stage 16 is able to move partly around thering base 12 or move fully around the ring base 12. In one embodiment,the ultrasonic scanning apparatus 10 includes at least one lockingmechanism, operable to lock each translation stage 16 in a fixedposition on the track of the ring base 12. In another embodiment, the atleast one translation stage 16 is moved around the ring base 12 by atleast one stepper motor and is configured to not move relative to thering base 12 without action of the at least one stepper motor. Each ofthe at least one translation stage 16 is connected to at least oneextension arm 18, which extends radially inwardly from the translationstage 16. Each of the at least one extension arm 18 is connected to atransducer housing assembly 20, which includes a fluid-filled chambercontaining an ultrasonic transducer. In one embodiment, at least onetransducer housing assembly 20 attaches directing to the at least onetranslation stage 16 without connection to an extension arm 18. Forexample, in one embodiment, the at least one transducer housing assembly20 is attached to the translation stag 16 via a hinge. Each transducerhousing assembly 20 is connected to a processor, which is operable torecord and analyze the results of all scans performed by the ultrasonicscanning apparatus 10. In one embodiment, the processor includes atleast one pulser receiver, operable to receive ultrasonic transducersignals and generate a waveform for a scan. The at least one translationstage 16 is able to move the at least one extension arm 18, and, byextension, the connected transducer housing assembly 20 axially upwardlyor downwardly relative to the part 2. Therefore, moving the at least oneextension arm 18 with respect to the at least one translation stage 16allows the ultrasonic scanning apparatus 10 to scan at different axialpositions of the outer coating 4 of the part 2, while moving the atleast one translation stage 16 radially around the ring base 12 allowsthe ultrasonic scanning apparatus 10 to scan at different radialpositions of the outer coating 4 of the part 2.

In one embodiment, the at least one translation stage 16 includes atleast two translation stages, at least three translation stages, atleast four translation stages, at least five translation stages, atleast seven translation stages, at least eight translation stages, atleast ten translation stages, or at least twenty translation stages. Inanother embodiment, the at least one transducer housing assembly 20includes at least two transducer housing assemblies, at least threetransducer housing assemblies, at least four transducer housingassemblies, at least five transducer housing assemblies, at least seventransducer housing assemblies, at least eight transducer housingassemblies, at least ten transducer housing assemblies, or at leasttwenty transducer housing assemblies attached to each of the at leastone translation stage 16. It will be appreciated that individualtranslation stages 16 are capable of having different numbers ofattached transducer housing assemblies 20.

In another embodiment, the base of the ultrasonic scanning apparatus 10does not include a track. Instead, in one embodiment, the base of theultrasonic scanning apparatus 10 is able to be rotated around the part2, such that the at least one transducer housing assembly 20 is aimed atdifferent locations on the part. In this embodiment, the base is able tobe a ring, or is able to formed as a variety of other shapes, including,but not limited to, a single crossbar positioned over the part 2 or across-shaped system.

When the ultrasonic scanning apparatus 10 is positioned above the part2, the transducer housing assembly 20 is positioned proximate to (e.g. 1mm away from) the outer coating 4 of the part 2. In one embodiment, thetransducer housing assembly 20 is placed at about 0.5 mm to about 2 mmoff the surface of the outer coating 4 of the part 2, depending on thethickness of the outer coating. In one embodiment, the position of thetransducer housing assembly 20 relative to the outer coating ismaintained at a substantially consistent offset, wherein the offset doesnot increase and/or decrease by greater than about 0.2 mm. In oneembodiment, the thickness of the outer coating 4 is about 1 mm. Inanother embodiment, the thickness of the outer coating 4 is betweenabout 1 mm and 3 mm. In one embodiment, the at least one extension arm18 is adjustable, such that the length of the at least one extension arm18 is able to be made shorter or longer. The ability to control thelength of the at least one extension arm 18 allows the ultrasonicscanning apparatus 10 to be used for parts 2 having different radii, asit allows the transducer housing assembly 20 to be positioned proximateto parts of different sizes.

In one embodiment, the ultrasonic scanning apparatus 10 includes aplurality of translation stages 16 extending axially downwardly from thering base 12. By including a plurality of translation stages 16, andtherefore a plurality of extension arms 18 attached to transducerhousing assemblies 20, the ultrasonic scanning apparatus 10 is able toscan different radial positions of the outer coating 4 simultaneously,and therefore able to more quickly scan the entire circumference of theouter coating 4 of the part 2, or a portion of the circumference of theouter coating 4 of the part 2. Furthermore, in another embodiment, eachtranslation stage 16 includes a plurality of extension arms 18, eachattached to a separate transducer housing assembly 20. By including aplurality of extension arms 18, the ultrasonic scanning apparatus 10 isable to scan different axial positions of the outer coating 4simultaneously, and therefore able to more quickly scan the entirety ofthe length of the outer coating 4 of the part 2, or a portion of thelength of the outer coating 4 of the part 2. Furthermore, this set upallows the ultrasonic scanning apparatus 10 to scan multiple parts 2 atonce if the parts are arranged coaxially.

The transducers used in the present invention are operable to operate inpulse-echo mode and/or in through transmission mode. For parts in whichthere is an outer coating, the transducers are generally operated inpulse-echo mode, in order to capture information about the outer coatingat a specific location. Therefore, even in situations in which there aretransducers located on opposite sides of the part and emittingultrasonic waves in opposite directions, each transducer operatesindependently in pulse-echo mode and the transducers are notcommunicating in through transmission mode. However, in embodimentswherein the part is a single material, without a distinct outer coating,it is often useful to run the transducers in through transmission mode.Therefore, the present invention should be understood as limiting as tothe mode of scanning able to be used by the transducers that are part ofthe ultrasonic scanning apparatus.

In one embodiment, the ring base 12 includes at least one rotationaloptical encoder for each translation stage 16. In one embodiment, the atleast one rotational optical encoder includes at least one quadratureencoder. In one embodiment, the at least one rotational optical encoderincludes at least 1800 counts per revolution (CPR). In one embodiment,the at least one rotational optical encoder includes at least onethru-bore optical encoder and/or at least one hollow bore opticalencoder.

The at least one rotational optical encoder is operable to track thechange in position of the at least one translation stage 16 within thetrack of the ring base 12. In one embodiment, the at least onerotational optical encoder automatically transmits angular position datato the processor in real time, allowing the processor to automaticallycorrelate scan data with angular position data. By correlating scan datawith angular position data, the processor is better able to generate a3D mapping of the part 2 being scanned (e.g. the outer coating 4), aseach scan image is able to be amalgamated to produce a 3D view. In oneembodiment, the ultrasonic scanning apparatus 10 does not include anymagnetic encoders. In another embodiment, the ultrasonic scanningapparatus 10 does not include any metal susceptible to an externalmagnetic field, and is instead composed entirely of plastic, composites,ceramics, diamagnetic metals, and/or other materials that are notattracted by an external magnetic field.

In one embodiment, the at least one translation stage 16 includes astepper motor and a linear optical encoder. The stepper motor allows theat least one extension arm 18 to be incrementally moved upwardly ordownwardly the at least one translation stage 16. The linear opticalencoder is operable to track the change in position for each of the atleast one extension arm 18 connected to the at least one translationstage 16. In one embodiment, the linear optical encoder automaticallytransmits linear position data to the processor in real time, allowingthe processor to automatically correlate scan data with linear positiondata. By correlating scan data with linear position data, the processoris better able to generate a 3D mapping of the object being scanned(e.g. the outer coating 4), as each scan image is able to be amalgamatedto produce a 3D view. The step size of the stepper motor is generally aknown quantity and therefore the relative position of the at least oneextension arm 18 is able to be determined by the number of steps movedusing the stepper motor. However, the optical encoder helps ensure theaccuracy of the step size, which allows the ultrasonic scanningapparatus 10 to maintain a high degree of accuracy with regard to theposition of each scan, even if the stepper motor falters in some manner.

In one embodiment, the ring base 12 of the ultrasonic scanning apparatus10 is connected to at least one hanger 14. In one embodiment, as shownin FIGS. 1 and 2 , the at least one hanger 14 includes at least onesemi-circular arch. In another embodiment, the at least one hangerincludes a plurality of suspension cables positioned around the ringbase 12. In one embodiment, the at least one hanger 14 is operable toconnect to a larger support apparatus designed to hold the weight of theultrasonic scanning apparatus 10.

In one embodiment, at least one acoustic gel is applied to an outersurface of the outer coating 4 before scanning. The acoustic gel helpsto form an acoustic path from the transducer housing assembly to theouter coating such that data from the outer coating 4 is interpretable.Critically, unlike water, which is able to penetrate and potentiallydamage an electric motor, the acoustic gel is easily applied and removedwithout risk of permanent damage to the part.

FIG. 3 illustrates a side view of a transducer housing assemblyaccording to one embodiment of the present invention. In one embodiment,the transducer housing assembly is a portable transducer housingassembly as described in U.S. patent application Ser. No. 17/091,774,which is incorporated herein by reference in its entirety. Thetransducer housing assembly 20 includes a central housing 22. Thecentral housing 22 is a hollow piece defining an interior chamber. Thecentral housing 22 includes an opening to a fluid connector 24. Thefluid connector 24 is operable to connect to a conduit supplyingcoupling fluid to the interior chamber of the transducer housingassembly 20. The interior chamber also includes an opening to receive alens housing 28, which extends outwardly from a front end of the centralhousing 22. In one embodiment, an opening at the front of the lenshousing 28 is covered by a membrane. In one embodiment, the lens housing28 is fused to the central housing 22. In one embodiment, the index ofrefraction between the coupling fluid and the membrane is approximatelyequal to 1. In another embodiment, the index of refraction between thecoupling fluid and the membrane is between 0.9 and 1.2. In oneembodiment, the membrane is made from AQUALENE and/or a flexibleliquid-based silicon. In one embodiment, the membrane has a thickness ofabout 0.25 mm. In one embodiment, the silicon is a transparent siliconhaving a specific gravity of about 1.07, a tensile strength of about 7.2MPa, and a tear resistance of about 112 ppi, in line with HT-6240,offered by STOCKWELL ELASTOMERICS. In one embodiment, the coupling fluidis water.

A coupling element 27 is threadedly connected to a back end of thecentral housing 22. In one embodiment, the coupling element 16 is ahollow cylinder and an elongate member 26 extends through the couplingelement 16 into the interior chamber of the central housing 22. A frontend of the elongate member 26 is connected to an ultrasonic transducer.In one embodiment, the elongate member 26 and the coupling element 16are held together by frictional contact between the outside surface ofthe elongate member 26 and the interior surface of the coupling element16. As the elongate member 26 extends through the coupling element 16into the interior chamber of the central housing 22, the transducer ispositioned within the interior chamber of the central housing 22.Therefore, during operation of the transducer housing assembly, thetransducer is coupled with the coupling fluid disposed within theinterior chamber of the central housing 22. In one embodiment, turningthe elongate member 26 relative to the central housing 22 moves thetransducer slightly within the interior chamber. Therefore, the elongatemember 26 is able to be used to fine tune the distance of the transducerfrom a test object in order to improve resolution. The elongate member26 is further operable to engage with and connect to the at least oneextension arm 18 of the ultrasonic scanning apparatus 10. Therefore, inone embodiment, the at least one extension arm 18 is operable to turnand thereby move the transducer by turning the elongate member 26relative to the central housing 22.

In one embodiment, the transducer is a spherically focused transducer.Traditionally, spherically focused transducers have higher spatialresolution than other transducers on the market, but have only been ableto be used in immersion tank or in system wherein coupling fluid iscontinuously sprayed on the object to be scanned. However, because thetransducer is disposed within a coupling fluid filled chamber and themembrane of the transducer housing assembly 20 is substantiallyacoustically transparent to the coupling fluid, the spherically focusedtransducer is able to be used in the present system without the use ofeither water jets or an immersion tank.

FIG. 4 illustrates a side view of an ultrasonic scanning apparatusaccording to one embodiment of the present invention. The ultrasonicscanning apparatus 210 includes a base 212 and a plurality of wheels 214configured to contact a surface of part 202 having an outer coating 204.The base 212 is connected to at least one translation stage 216. Each ofthe at least one translation stage 216 is connected to at least onetransducer housing assembly 20, which extends from the translation stage216 inwardly toward the part 202. In one embodiment, the at least onetransducer housing assembly 20 is connected to the at least onetranslation stage 216 through connection to at least one extension arm218, which extends inwardly from the at least one translation stage 216.In one embodiment, the plurality of wheels 214 allow the base 212 torotate around the part 202, such that the at least one transducerhousing assembly 20 is able to scan a plurality of regions of the outercoating 204 of the part 202. By placing the plurality of wheels 214directly on a surface of the test object 202, the device does notrequire a hanger to support the base 212, as in the apparatus shown inFIGS. 1 and 2 . Furthermore, the ultrasonic scanning apparatus 210continues to avoid needing to contact the outer coating 204 of the part202 at all.

FIG. 5 illustrates a side view of an ultrasonic scanning apparatusaccording to one embodiment of the present invention. In one embodiment,the part 2 being scanned includes an outer coating 4. Toward the edge ofthe part 2, the part increases in thickness at a ramp region 48.Radially outwardly from the ramp region 48, is an area wherein the topof the part 2 has a substantially flat top surface, herein referred toas the flat region 42. Between the ramp region 48 and flat region 42 isa first lip 46, which extends upwardly from the top surface of the part2. Additionally, the part includes a second lip 44 radially outwardlyfrom the flat region 42, which extends upwardly from the top surface ofthe part 2.

The ultrasonic scanning apparatus 30 includes a first wheel 52configured to rest on the flat region 42 of the part 2, and a secondwheel 54 configured to rest on the ramp region 48 of the part 2. Thefirst wheel 52 is connected to a motor 72 and an optical encoder 74,which is operable to determine the radial position of the ultrasonicscanning apparatus 30 on the part 2. The first wheel 52 and second wheel54 are connected via a connector apparatus 32. The connector apparatus32 is further connected to at least one translation stage 36. At leastone extension arm 38 extends radially inwardly from at least one sleeve37 connected to the at least one translation stage 36. The at least onesleeve 37 includes a locking mechanism 39. When the locking mechanism 39is engaged, the at least one extension arm 38 is able to move into andout of the at least one sleeve 37. In one embodiment, the lockingmechanism 39 includes a pin, and when the pin is depressed, the at leastone extension arm 38 is able to move into and out of the at least onesleeve 37. Each of the at least one extension arm 38 is connected to atransducer housing assembly 20, which is configured to be proximate tothe outer coating 4 of the part 2. Each of at least one translationstage is connected to a stepper motor 70, which allows the at least oneextension arm 38 to move upwardly and downwardly along the at least onetranslation stage 36 at incremental distances.

At least one stabilization arm 60 extends radially inwardly from atleast one stabilization sleeve 62 connected to the at least onetranslation stage 36. The at least one stabilization sleeve 62 includesa locking mechanism 63. When the locking mechanism 63 is engaged, the atleast one stabilization arm 60 is able to move into and out of the atleast one stabilization sleeve 62. In one embodiment, the lockingmechanism 63 includes a pin, and when the pin is depressed, the at leastone stabilization arm 60 is able to move into and out of the at leastone stabilization sleeve 62. A stabilization wheel 56 is attached toeach of the at least one stabilization arm 60 at an end opposite the endof the at least one stabilization arm 60 connected to the at least onestabilization sleeve 62. The stabilization wheel 56 is configured tocontact the outer coating 4 of the part 2. In one embodiment, thestabilization wheel 56 is formed from a soft material, including, butnot limited, to polytetrafluoroethylene (PTFE), low-density polyethylene(LDPE), ultrahigh molecular weight polyethylene (UHMWPE), and/or othermaterials having low roughness and/or a low coefficient of friction. Inone embodiment, none of the ultrasonic scanning apparatus 30 is formedfrom a metal susceptible to an external magnetic field and theultrasonic scanning apparatus 30 is instead formed entirely fromplastic, composites, ceramics, diamagnetic metals, and/other materialsthat are not significantly effected by an external magnetic field.

The ultrasonic scanning apparatus 30 is able to be placed on the partwithout a heavy stabilization apparatus being needed to lift and holdthe apparatus above the part 2. The weight of the ultrasonic scanningapparatus 30 is substantially distributed to the part 2 via contact ofthe first wheel 52 and the second wheel 54. The ultrasonic scanningapparatus 30 is therefore best used for a part 2 where the bulk of thepart 2 is not sensitive to pressure, while the outer coating 4 issubstantially more sensitive than the rest of the part 2. Thestabilization wheel 54 prevents the ultrasonic scanning apparatus 30from tipping over and falling off the device. Furthermore, even if theultrasonic scanning apparatus 30 would not otherwise fall off the part2, the stabilization wheel 54 helps to ensure that the transducerhousing assembly 20 remains at a fixed distance from the surface of theouter coating 4 of the part 2. While slight force is applied by thestabilization wheel 54 to the outer coating 4, the force issignificantly lower than the force applied by any existing system to atubular part. Furthermore, because the stabilization wheel 54 is formedfrom a soft material, such as PTFE, the chances of damage to the outercoating 4 of the part 2 are significantly reduced. Furthermore, theability to adjust the length of both the at least one extension arm 38and the at least one stabilization arm 60 allows the ultrasonic scanningapparatus 30 to be used for parts of different sizes.

In one embodiment, the apparatus includes at least one robotic armattached to at least one portable transducer housing. By pre-programmingthe at least one robotic arm to the specifications of the arm, therobotic arm is able to trace the surface of the part to thoroughly scanit. In one embodiment, the at least one robotic arm is mounted to asegment of the object to be scanned that is not sensitive to contact.

FIG. 6 illustrates a front view of an ultrasonic scanning apparatus witha rotating support according to one embodiment of the present invention.In one embodiment, an axially symmetric part 202 is held up by a supportapparatus 214 attached to one or more attachment points 204 on one ormore faces of the axially symmetric part 202. In one embodiment, the oneor more attachment points 204 are attached to the support apparatus 214by at least one magnet, at least one screw, at least one bolt, at leastone latch, and/or other mechanical attachment mechanisms known in theart. In one embodiment, the axially symmetric part 202 includes at leasttwo faces connected by a side wall. In one embodiment, the outer surfaceof the side wall is covered in a sensitive material, wherein thesensitive material is likely to be damaged by substantial mechanicalcontact with the side wall. In one embodiment, the support apparatus 214is operable to rotate the axially symmetric part 202 along a centralaxis. In one embodiment, the rotation is carried out via rotation and/ormovement of at least one support bar of the support apparatus 214attached to the one or more attachment points 204. At least onesupporting beam 212 is used to support and/or hold aloft at least onetranslation stage 216. At least one transducer housing assembly 20 isattached to each of the at least one translation stage 216 and ispositioned proximate to the surface of the side wall of the axiallysymmetric part 202. In one embodiment, the support apparatus 214includes at least one sensor detecting the rotation of the axiallysymmetric part 202. In one embodiment, the at least one sensor includesat least one optical encoder.

As the axially symmetric part 202 turns, the at least one transducerhousing assembly 20 remains at a substantially fixed position relativeto the axially symmetric part 202, such as that it is able to scan thefull perimeter of the axially symmetric part 202. In one embodiment,after the at least one sensor detects that the axially symmetric part202 has rotated through a full rotation, at least one motor attached tothe at least one translation stage 216 moves the at least one transducerhousing assembly 20 such that the at least one transducer housingassembly 20 is aimed at a different point along the sidewall of theaxially symmetric part 202. Therefore, with a sufficient number ofrotations, the exact number of which depends upon the thickness of theaxially symmetric part 202, the at least one transducer housing assembly202 is able to scan the full side wall of the axially symmetric part202.

FIG. 7 illustrates a side view of an ultrasonic scanning apparatus witha rotating support and gel applicator according to one embodiment of thepresent invention. As in FIG. 6 , the axially symmetric part 202 in FIG.7 is supported by a support apparatus 214 attached to at least oneattachment point 204 of the axially symmetric part 202. A transducerhousing assembly 20 attached to a translation stage 216 is positionedproximate to the surface of the side wall of the axially symmetric part202. In one embodiment, a gel applicator 220 is used to apply a uniformcoating of acoustic gel 222 to the axially symmetric part 202 as theaxially symmetric part 202 rotates. In one embodiment, as shown in FIG.7 , the gel applicator 220 includes a wedge proximate to the surface ofthe side wall of the axially symmetric part 202. As gel is pushed alongthe surface of the gel applicator 220, it slides down the wedge, hangingoff of it before being picked up by the surface of the side wall of theaxially symmetric part 202. Automatically applying the acoustic gel 222to the surface of the side wall of the axially symmetric part 202 allowsthe transducer housing assembly 20 to more easily acoustically couple tothe surface, without the need for manual addition of the gel, whichwould require interruption of the rotation of the axially symmetric part202 and would be more likely to result in uneven gel coating on thesurface. One of ordinary skill in the art will appreciate that althoughFIG. 7 shows the at least one translation stage 216 as being coupled tothe gel applicator 220, the at least one translation stage 216 iscapable of being held by a number of different means. By way of example,and not of limitation, the at least one translation stage 216 is able tobe supported by at least one support beam attached to the supportapparatus 214. In another embodiment, the at least one translation stage216 is supported by at least one support beam not attached to thesupport apparatus 214 or the gel applicator 220. In yet anotherembodiment, the at least one translation stage 216 is attached to arobotic arm.

In another embodiment, the gel applicator 220 does not include a wedgeelement. In one embodiment, the gel applicator 220 includes at least onebrush attached to a motor. As the axially symmetric part 202 rotates,the motor causes the at least one brush to swipe back and forth in orderto apply acoustic gel to the surface of the side wall of the axiallysymmetric part 202. In another embodiment, the gel applicator 220includes at least one nozzle connected to at least one gel containmentdevice and at least one motor. The gel containment device includes atleast one compressor (e.g. a piston), which slowly forces out acousticgel from an open end of the at least one nozzle such that the acousticgel is exposed to the surface of the axially symmetric part 202. As theaxially symmetric part 202 rotates, the motor causes the at least onenozzle to move back and forth to ensure the entire thickness of thesurface of the side wall of the axially symmetric part 202 is coveredwith gel.

FIG. 8 illustrates a three-dimensional representation of the thicknessof a part generated by one embodiment of the present invention. In oneembodiment, the ultrasonic scanning apparatus produces scan data via thetransmission and receival of ultrasonic waves from a plurality ofregions on the part. In one embodiment, the scan data is correlated withrotational position data and/or axial position data generated by atleast one stepper motor and/or at least one optical encoder. Bycorrelating the scan data with position data, a processor connected tothe at least one transducer housing assembly is able to generate athree-dimensional (3D) representation 80 of the part. In one embodiment,as shown in FIG. 8 , the 3D representation provides for a visualrepresentation of the thickness of an outer coating at each position onthe part. In one embodiment, the thickness of the outer coating isrepresented by differential coloration of the 3D representation. Whilethe embodiment shown in FIG. 8 shows a three-representation with a thinwall, it will be appreciated that, in another embodiment, the 3Drepresentation shows the thickness of the outer coating by providedvariations in the surface topology of the 3D representation depending onthe thickness of the outer coating. In another embodiment, the 3Drepresentation is used to represent a quality of the outer coating otherthan thickness, including but not limited to, the type of materialconstituting the outer coating, the ply orientation of the outercoating, the presence of wrinkles in the outer coating, the presence offoreign objects in the outer coating, and/or the presence of disbandingand/or delamination between the outer coating and the part.

FIG. 9 illustrates a two-dimensional representation of the thickness ofa part generated by one embodiment of the present invention. Theprocessor is also operable to generate a two-dimensional (2D)representation 90 of the part, as shown in FIG. 9 . In one embodiment,the ultrasonic scanning apparatus produces scan data via thetransmission and receival of ultrasonic waves from a plurality ofregions on the part. In one embodiment, the scan data is correlated withrotational position data and/or axial position data generated by atleast one stepper motor and/or at least one optical encoder. Bycorrelating the scan data with position data, a processor connected tothe at least one transducer housing assembly is able to generate athree-dimensional (2D) representation 90 of the part. In one embodiment,as shown in FIG. 9 , the 2D representation provides for a visualrepresentation of the thickness of the outer coating at each position onthe part. In one embodiment, the thickness of the outer coating isrepresented by differential coloration of the 2D representation. Inanother embodiment, the 2D representation is used to represent a qualityof the outer coating other than thickness, including but not limited to,the type of material constituting the outer coating, the ply orientationof the outer coating, the presence of wrinkles in the outer coating, thepresence of foreign objects in the outer coating, and/or the presence ofdisbanding and/or delamination between the outer coating and the part.

FIG. 10 illustrates a group of graphical representations of a partprovided by one embodiment of the present invention. The transducer inthe transducer housing assembly 20 is operable to emit and receiveultrasonic waves to produce ultrasonic scan data. The ultrasonic scandata includes multiple types of scan data, as the transducer emits wavesinto different sections of the part, such as A-scans, B-scans, andC-scans. An A-scan is formed for each individually scanned point of thepart. A-scans typically show a signal amplitude as a function of time,wherein signals appearing later in time are reflected from boundarychanges at greater depths in the part and the presence of greater thantwo signals (more than the initial entry into the part and thereflection off the back wall of the part) indicates the presence of adefect, or internal layering within the part. A-scans can be useful indetermining whether a defect or layer boundary is present at aparticular point in an object, but lacks specificity regarding the sizeor type of defect in question and can only characterize one specificarea of the part. Unlike other scanning techniques, which use gating inorder to retrieve scan data between two preset time points of the scan,the present system is operable to capture and utilize the entirewaveform of the scan. Where gating is described in this application, itshould be understood to refer to picking out particular regions foranalysis after retrieving the full waveform, rather than limiting thewaveform of the captured scan data to a particular set of times.

B-scans are constructed as combinations of individual A-scans as anultrasonic testing device is swept along an axis of the part. As theultrasonic testing device is moved, the B-scan is able to form across-sectional view of the device, indicating at what depth defects arefound based on the peaks of the A-scan for each point along the part.This creates a sort of side view of the part, which is useful forproviding information regarding impact damage and delaminations.

A C-scan provides a cross-sectional view of the part that is orthogonalto that of the B-scan. C-scans combine A-scans for different X and Ycoordinates along a plane to produce a cross sectional view that canprovide not only position data for an internal defect or layer, but alsoan indication of the defect or layer's cross-sectional area at a givendepth. C-scans are formed by selecting a gate start time and a gate endtime and then obtaining intensity information within the gate region forevery A-scan that is taken. Some systems utilize phase array technologywith transducers aimed in different directions, such as that the systemis able to gain a wider array of A-scans before the transducer is movedacross each point of the test area. C-scans are however, two dimensionalimages and are unable to accurately provide for the depth of a defect orprecisely observe defects that would appear more predominately in a vieworthogonal to the cross-sections of the C-scans.

As the frequency of the transducer increases, the resolution quality ofthe transducer increases. In one embodiment, the transducer is firedusing a voltage of approximately 200 V, which allows the transducer tooperate at high frequencies. However, as the frequency of the transducerincreases, the depth of a part visible to the system decreases. In oneembodiment, the transducer is able to operate at frequencies between 0.5MHz and 50 MHz. In another embodiment, the transducer is able to operateat frequencies between 1 and 25 MHz. In yet another embodiment, thetransducer is able to operate at frequencies between 5 and 15 MHz. Instill another embodiment, the transducer is able to operate between 10and 15 MHz. In a preferred embodiment, the transducer operates between7.5 and 15 MHz.

As shown in FIG. 10 , the GUI is capable of providing a single view witha corresponding A-scan image 102, B-scan images 104,106, C-scan image108 and a three-dimensional (3-D) layered image 110, constructed bycombining data from corresponding B-scan images 104, 106 and C-scanimages 108. The A-scan image 102 represents an average amplitude valuefor signals returning at a given time. In one embodiment, the A-scanimage 102 represents a weighted average amplitude, meaning that theamplitudes of the scans at particular positions in the object contributemore to the final A-scan image 102 than the amplitudes at otherpositions. As the values on the A-Scan image 102 represent averages, itis unlikely that the A-scan image 102 by itself would be able to showforeign objects or other defects in the part unless the foreign objectsor other defects persisted across the entire cross section of the part.However, the difference in amplitudes over time in the A-scan image 102is useful for characterizing different layers of the laminate or largescale delaminations normal to the surface of the part within the part. Areference line 112 on the A-scan image 102 indicates a depth within thepart, which is the same depth at which the C-scan image 108 displays across-sectional surface of a layer of the part and is the depth at whichthe 3-D layered image 110 displays a cross-section of the part.

The B-scan images 104,106 include a first B-scan image 104 showing thecross-section of the part parallel to a first axis 114 and a secondB-scan image 106 showing the cross-section of the part parallel to asecond axis 116, such that the first B-scan image 104 and the secondB-scan image 106 display cross-sections that are orthogonal to oneanother. The 3-D layered image 110 includes a top surface 118 equivalentto the C-scan image 108, a first side surface 120 equivalent to thefirst B-scan image 104, and a second side surface 122 equivalent to thesecond B-scan image 106. In another embodiment, the system automaticallygenerates a B-scan image of a foreign object and a corresponding depthfrom the surface of the part for the B-scan image.

As the ultrasonic scanning apparatus is performing the scan, the 3-Dlayered image 110 appears to increase in depth until the testing iscomplete. It will be appreciated that the 3-D layered image increasingin depth is not a reflection of the manner in which the scan data isproduced, but merely a convenient visual effect for the user. The scandata is produced in a way such that the entire waveform is saved foreach A-scan, therefore meaning that the entire range of depths for thepart are acquired simultaneously. In one embodiment, after the testinghas been completed, a user of the GUI selects a time point, which causesthe GUI to display versions of the C-scan image 108 and the 3-D layeredimage 110 taken during the testing at the selected time point. In oneembodiment, the time point is selectable by dragging the reference line112 on the A-scan image 102. In another embodiment, the user selects thetime point by entering in a number value associated with the time point.

In one embodiment, the processor is further operable to automaticallydetect the presence of a foreign object, characterize barely visibleimpact damage on the surface of the outer coating, detect areas ofincomplete bonding and/or disbanding of the material, detect andcharacterize both in-plane and out-of-plane wrinkles, and determine aply orientation for one or more layers of the part and/or outer coatingof the part. Each of these functions are described in greater detail inU.S. patent application Ser. No. 17/188,559, which is incorporatedherein by reference in its entirety.

FIG. 11 is a schematic diagram of an embodiment of the inventionillustrating a computer system, generally described as 800, having anetwork 810, a plurality of computing devices 820, 830, 840, a server850, and a database 870.

The server 850 is constructed, configured, and coupled to enablecommunication over a network 810 with a plurality of computing devices820, 830, 840. The server 850 includes a processing unit 851 with anoperating system 852. The operating system 852 enables the server 850 tocommunicate through network 810 with the remote, distributed userdevices. Database 870 is operable to house an operating system 872,memory 874, and programs 876.

In one embodiment of the invention, the system 800 includes a network810 for distributed communication via a wireless communication antenna812 and processing by at least one mobile communication computing device830. Alternatively, wireless and wired communication and connectivitybetween devices and components described herein include wireless networkcommunication such as WI-FI, WORLDWIDE INTEROPERABILITY FOR MICROWAVEACCESS (WIMAX), Radio Frequency (RF) communication including RFidentification (RFID), NEAR FIELD COMMUNICATION (NFC), BLUETOOTHincluding BLUETOOTH LOW ENERGY (BLE), ZIGBEE, Infrared (IR)communication, cellular communication, satellite communication,Universal Serial Bus (USB), Ethernet communications, communication viafiber-optic cables, coaxial cables, twisted pair cables, and/or anyother type of wireless or wired communication. In another embodiment ofthe invention, the system 800 is a virtualized computing system capableof executing any or all aspects of software and/or applicationcomponents presented herein on the computing devices 820, 830, 840. Incertain aspects, the computer system 800 is operable to be implementedusing hardware or a combination of software and hardware, either in adedicated computing device, or integrated into another entity, ordistributed across multiple entities or computing devices.

By way of example, and not limitation, the computing devices 820, 830,840 are intended to represent various forms of electronic devicesincluding at least a processor and a memory, such as a server, bladeserver, mainframe, mobile phone, personal digital assistant (PDA),smartphone, desktop computer, netbook computer, tablet computer,workstation, laptop, and other similar computing devices. The componentsshown here, their connections and relationships, and their functions,are meant to be exemplary only, and are not meant to limitimplementations of the invention described and/or claimed in the presentapplication.

In one embodiment, the computing device 820 includes components such asa processor 860, a system memory 862 having a random access memory (RAM)864 and a read-only memory (ROM) 866, and a system bus 868 that couplesthe memory 862 to the processor 860. In another embodiment, thecomputing device 830 is operable to additionally include components suchas a storage device 890 for storing the operating system 892 and one ormore application programs 894, a network interface unit 896, and/or aninput/output controller 898. Each of the components is operable to becoupled to each other through at least one bus 868. The input/outputcontroller 898 is operable to receive and process input from, or provideoutput to, a number of other devices 899, including, but not limited to,alphanumeric input devices, mice, electronic styluses, display units,touch screens, signal generation devices (e.g., speakers), or printers.

By way of example, and not limitation, the processor 860 is operable tobe a general-purpose microprocessor (e.g., a central processing unit(CPU)), a graphics processing unit (GPU), a microcontroller, a DigitalSignal Processor (DSP), an Application Specific Integrated Circuit(ASIC), a Field Programmable Gate Array (FPGA), a Programmable LogicDevice (PLD), a controller, a state machine, gated or transistor logic,discrete hardware components, or any other suitable entity orcombinations thereof that can perform calculations, process instructionsfor execution, and/or other manipulations of information.

In another implementation, shown as 840 in FIG. 11 , multiple processors860 and/or multiple buses 868 are operable to be used, as appropriate,along with multiple memories 862 of multiple types (e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core).

Also, multiple computing devices are operable to be connected, with eachdevice providing portions of the necessary operations (e.g., a serverbank, a group of blade servers, or a multi-processor system).Alternatively, some steps or methods are operable to be performed bycircuitry that is specific to a given function.

According to various embodiments, the computer system 800 is operable tooperate in a networked environment using logical connections to localand/or remote computing devices 820, 830, 840 through a network 810. Acomputing device 830 is operable to connect to a network 810 through anetwork interface unit 896 connected to a bus 868. Computing devices areoperable to communicate communication media through wired networks,direct-wired connections or wirelessly, such as acoustic, RF, orinfrared, through an antenna 897 in communication with the networkantenna 812 and the network interface unit 896, which are operable toinclude digital signal processing circuitry when necessary. The networkinterface unit 896 is operable to provide for communications undervarious modes or protocols.

In one or more exemplary aspects, the instructions are operable to beimplemented in hardware, software, firmware, or any combinationsthereof. A computer readable medium is operable to provide volatile ornon-volatile storage for one or more sets of instructions, such asoperating systems, data structures, program modules, applications, orother data embodying any one or more of the methodologies or functionsdescribed herein. The computer readable medium is operable to includethe memory 862, the processor 860, and/or the storage media 890 and isoperable be a single medium or multiple media (e.g., a centralized ordistributed computer system) that store the one or more sets ofinstructions 900. Non-transitory computer readable media includes allcomputer readable media, with the sole exception being a transitory,propagating signal per se. The instructions 900 are further operable tobe transmitted or received over the network 810 via the networkinterface unit 896 as communication media, which is operable to includea modulated data signal such as a carrier wave or other transportmechanism and includes any delivery media. The term “modulated datasignal” means a signal that has one or more of its characteristicschanged or set in a manner as to encode information in the signal.

Storage devices 890 and memory 862 include, but are not limited to,volatile and non-volatile media such as cache, RAM, ROM, EPROM, EEPROM,FLASH memory, or other solid state memory technology; discs (e.g.,digital versatile discs (DVD), HD-DVD, BLU-RAY, compact disc (CD), orCD-ROM) or other optical storage; magnetic cassettes, magnetic tape,magnetic disk storage, floppy disks, or other magnetic storage devices;or any other medium that can be used to store the computer readableinstructions and which can be accessed by the computer system 800.

In one embodiment, the computer system 800 is within a cloud-basednetwork. In one embodiment, the server 850 is a designated physicalserver for distributed computing devices 820, 830, and 840. In oneembodiment, the server 850 is a cloud-based server platform. In oneembodiment, the cloud-based server platform hosts serverless functionsfor distributed computing devices 820, 830, and 840.

In another embodiment, the computer system 800 is within an edgecomputing network. The server 850 is an edge server, and the database870 is an edge database. The edge server 850 and the edge database 870are part of an edge computing platform. In one embodiment, the edgeserver 850 and the edge database 870 are designated to distributedcomputing devices 820, 830, and 840. In one embodiment, the edge server850 and the edge database 870 are not designated for distributedcomputing devices 820, 830, and 840. The distributed computing devices820, 830, and 840 connect to an edge server in the edge computingnetwork based on proximity, availability, latency, bandwidth, and/orother factors.

It is also contemplated that the computer system 800 is operable to notinclude all of the components shown in FIG. 11 , is operable to includeother components that are not explicitly shown in FIG. 11 , or isoperable to utilize an architecture completely different than that shownin FIG. 11 . The various illustrative logical blocks, modules, elements,circuits, and algorithms described in connection with the embodimentsdisclosed herein are operable to be implemented as electronic hardware,computer software, or combinations of both. To clearly illustrate thisinterchangeability of hardware and software, various illustrativecomponents, blocks, modules, circuits, and steps have been describedabove generally in terms of their functionality. Whether suchfunctionality is implemented as hardware or software depends upon theparticular application and design constraints imposed on the overallsystem. Skilled artisans may implement the described functionality invarying ways for each particular application (e.g., arranged in adifferent order or partitioned in a different way), but suchimplementation decisions should not be interpreted as causing adeparture from the scope of the present invention.

The above-mentioned examples are provided to serve the purpose ofclarifying the aspects of the invention, and it will be apparent to oneskilled in the art that they do not serve to limit the scope of theinvention. By nature, this invention is highly adjustable, customizableand adaptable. The above-mentioned examples are just some of the manyconfigurations that the mentioned components can take on. Allmodifications and improvements have been deleted herein for the sake ofconciseness and readability but are properly within the scope of thepresent invention.

The invention claimed is:
 1. A system for non-destructive testing of amaterial, comprising: at least one transducer housing assembly includingan interior fluid-filled chamber; at least one translation stageincluding at least one extension arm attached to the at least onetransducer housing assembly; a support apparatus, wherein the supportapparatus is operable to rotate the at least one translation stagearound at least one test object; wherein the interior fluid-filledchamber includes an ultrasonic transducer operable to emit ultrasonicwaves into and receive ultrasonic waves from the at least one testobject; and wherein the system is operable to scan at least a portion ofa side wall of the at least one test object without mechanicallycontacting the side wall of the at least one test object.
 2. The systemof claim 1, wherein the at least one translation stage is connected toat least one track within the support apparatus.
 3. The system of claim1, wherein the support apparatus includes at least one support wheel,wherein the at least one support wheel is configured to contact asurface of the at least one test object other than the side wall.
 4. Thesystem of claim 1, further comprising at least one processor incommunication with the at least one translation stage, wherein the atleast one translation stage is operable to move the at least oneextension arm along at least one axis, and wherein the at least oneprocessor is operable to track the position of the at least oneextension arm on the at least one translation stage to produce linearposition data.
 5. The system of claim 1, wherein the at least onetranslation stage includes a plurality of extension arms, each connectedto one or more of the at least one transducer housing assembly, andwherein each of the at least one transducer housing assembly is operableto scan the at least one test object independently and/or is operable toscan the at least one test object simultaneously.
 6. The system of claim1, further comprising at least one optical encoder operable to detectrotation of the at least one translation stage around the at least onetest object to produce rotational position data.
 7. The system of claim1, wherein the system does not include ferromagnetic components, andwherein the system does not include a magnetic encoder.
 8. The system ofclaim 1, wherein the ultrasonic transducer is a spherically focusedtransducer.
 9. A system for non-destructive testing of a material,comprising: at least one transducer housing assembly including aninterior fluid-filled chamber; at least one translation stage includingat least one extension arm attached to the at least one transducerhousing assembly; a support apparatus, wherein the support apparatus isoperable to rotate the at least one translation stage around at leastone test object; wherein the interior fluid-filled chamber includes anultrasonic transducer operable to emit ultrasonic waves into and receiveultrasonic waves from the at least one test object; and wherein thesupport apparatus is supported by a plurality of wheels configured torest on at least one surface of the at least one test object.
 10. Thesystem of claim 9, wherein the at least one translation stage includesat least one stabilizing arm connected to at least one stabilizingwheel, wherein the at least one stabilizing wheel is configured tocontact a side wall of the at least one test object.
 11. The system ofclaim 10, wherein the at least one stabilizing wheel is made frompolytetrafluoroethylene.
 12. The system of claim 9, wherein the at leastone translation stage includes a plurality of extension arms, eachconnected to the at least one transducer housing assembly, and whereineach of the at least one transducer housing assembly is operable to scanthe at least one test object independently and/or is operable to scanthe at least one test object simultaneously.
 13. The system of claim 9,wherein the at least one translation stage is operable to move the atleast one extension arm along at least one axis.
 14. The system of claim9, further comprising at least one optical encoder operable to detectrotation of the at least one translation stage around the at least onetest object to produce rotational position data.
 15. The system of claim9, wherein the system does not include ferromagnetic components, andwherein the system does not include a magnetic encoder.
 16. The systemof claim 9, wherein the ultrasonic transducer is a spherically focusedtransducer.
 17. A system for non-destructive testing of a material,comprising: at least one transducer housing assembly including aninterior fluid-filled chamber; at least one translation stage includingat least one extension arm attached to the at least one transducerhousing assembly; a support apparatus, wherein the support apparatus isoperable to rotate the at least one translation stage around at leastone test object; wherein the interior fluid-filled chamber includes anultrasonic transducer operable to emit ultrasonic waves into and receiveultrasonic waves from the at least one test object to produce scan data;wherein the at least one transducer housing assembly is connected to atleast one processor; and wherein the at least one processor is operableto generate at least one three-dimensional (3D) representation of the atleast one test object based on the scan data.
 18. The system of claim17, further comprising at least one optical encoder operable to detectrotation of the at least one translation stage around the at least onetest object to produce rotational position data.
 19. The system of claim18, wherein the rotational position data is used to generate the atleast one 3D representation of the at least one test object.
 20. Thesystem of claim 17, wherein the at least one 3D representation of the atleast one test object is generated in real-time.